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<div class="title">base_multi_edge.h</div>  </div>
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<a href="base__multi__edge_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_BASE_MULTI_EDGE_H</span></div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="namespaceg2o_1_1internal.html">   28</a></span>&#160;<span class="preprocessor">#define G2O_BASE_MULTI_EDGE_H</span></div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="namespaceg2o_1_1internal.html#abf695a74f7aced7ee804a58607ae434c">   29</a></span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;iomanip&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/StdVector&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="base__edge_8h.html">base_edge.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#ae44ba0385d4dda4bc038d81e50cadd8c">   37</a></span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="robust__kernel_8h.html">robust_kernel.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;../../config.h&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E&gt;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html">   51</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_base_multi_edge.html">BaseMultiEdge</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge</a>&lt;D,E&gt;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#a72176776797987b8ae79ea2e33971e9e">   53</a></span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html">   57</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html">HessianHelper</a> {</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html#ab9eab8a9c5bf6e7814173d1955d7a01c">   58</a></span>&#160;        Eigen::Map&lt;MatrixXd&gt; <a class="code" href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html#ab9eab8a9c5bf6e7814173d1955d7a01c">matrix</a>;     </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html#aeaff0227a982c30364d97ef9f0d9d60c">   59</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html#aeaff0227a982c30364d97ef9f0d9d60c">transposed</a>;          </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html#a5a76a58b21ca39ea6ca1e274b588fad0">   60</a></span>&#160;        <a class="code" href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html#a5a76a58b21ca39ea6ca1e274b588fad0">HessianHelper</a>() : matrix(0, 0, 0), transposed(false) {}</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      };</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#a6196a4cd1ddc2ef27c1474252bb60e9f">   64</a></span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> Dimension = <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::Dimension</a>;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#acbaff4c018fb314db5c7852054ffb89d">   65</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">BaseEdge&lt;D,E&gt;::Measurement</a> <a class="code" href="classg2o_1_1_base_multi_edge.html#acbaff4c018fb314db5c7852054ffb89d">Measurement</a>;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#a43dfdf5b27df296a32ee5a11f0653d55">   66</a></span>&#160;      <span class="keyword">typedef</span> MatrixXd::MapType <a class="code" href="classg2o_1_1_base_multi_edge.html#a43dfdf5b27df296a32ee5a11f0653d55">JacobianType</a>;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#ae17c6b5747bfed295214942207a6eb74">   67</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">BaseEdge&lt;D,E&gt;::ErrorVector</a> <a class="code" href="classg2o_1_1_base_multi_edge.html#ae17c6b5747bfed295214942207a6eb74">ErrorVector</a>;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#a368ab136a2cee049549cb479fb4c88fa">   68</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">BaseEdge&lt;D,E&gt;::InformationType</a> <a class="code" href="classg2o_1_1_base_multi_edge.html#a368ab136a2cee049549cb479fb4c88fa">InformationType</a>;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#af299cc8f77d917c1ad4a7d8004aec3a1">   69</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Map&lt;MatrixXd, MatrixXd::Flags &amp; AlignedBit ? Aligned : Unaligned &gt; <a class="code" href="classg2o_1_1_base_multi_edge.html#af299cc8f77d917c1ad4a7d8004aec3a1">HessianBlockType</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#a761d6a3623ed2c4ce6c6535f78dac08d">   71</a></span>&#160;      <a class="code" href="classg2o_1_1_base_multi_edge.html#a761d6a3623ed2c4ce6c6535f78dac08d">BaseMultiEdge</a>() : <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge</a>&lt;D,E&gt;()</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      {</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      }</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      </div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> linearizeOplus(<a class="code" href="classg2o_1_1_jacobian_workspace.html">JacobianWorkspace</a>&amp; jacobianWorkspace);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> linearizeOplus();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      </div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> resize(<span class="keywordtype">size_t</span> size);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> allVerticesFixed() <span class="keyword">const</span>;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> constructQuadraticForm() ;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> mapHessianMemory(<span class="keywordtype">double</span>* d, <span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j, <span class="keywordtype">bool</span> rowMajor);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::computeError</a>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::_measurement</a>;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::_information</a>;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::_error</a>;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::_vertices</a>;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::_dimension</a>;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#af927d6f41bf73fc3b928cae2d6219d9e">  100</a></span>&#160;      std::vector&lt;HessianHelper&gt; <a class="code" href="classg2o_1_1_base_multi_edge.html#af927d6f41bf73fc3b928cae2d6219d9e">_hessian</a>;</div><div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_multi_edge.html#a00f8130e287bc945a8436375c4d07a02">  101</a></span>&#160;      std::vector&lt;JacobianType, aligned_allocator&lt;JacobianType&gt; &gt; <a class="code" href="classg2o_1_1_base_multi_edge.html#a00f8130e287bc945a8436375c4d07a02">_jacobianOplus</a>; </div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keywordtype">void</span> computeQuadraticForm(<span class="keyword">const</span> InformationType&amp; omega, <span class="keyword">const</span> ErrorVector&amp; weightedError);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  };</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="base__multi__edge_8hpp.html">base_multi_edge.hpp</a>&quot;</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;} <span class="comment">// end namespace g2o</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_base_multi_edge_html_a00f8130e287bc945a8436375c4d07a02"><div class="ttname"><a href="classg2o_1_1_base_multi_edge.html#a00f8130e287bc945a8436375c4d07a02">g2o::BaseMultiEdge::_jacobianOplus</a></div><div class="ttdeci">std::vector&lt; JacobianType, aligned_allocator&lt; JacobianType &gt; &gt; _jacobianOplus</div><div class="ttdoc">jacobians of the edge (w.r.t. oplus) </div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:101</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a2c148abba650a20b8c7eed75d3e2211e"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">g2o::BaseEdge::Measurement</a></div><div class="ttdeci">E Measurement</div><div class="ttdef"><b>Definition:</b> base_edge.h:47</div></div>
<div class="ttc" id="base__multi__edge_8hpp_html"><div class="ttname"><a href="base__multi__edge_8hpp.html">base_multi_edge.hpp</a></div></div>
<div class="ttc" id="classg2o_1_1_base_multi_edge_html"><div class="ttname"><a href="classg2o_1_1_base_multi_edge.html">g2o::BaseMultiEdge</a></div><div class="ttdoc">base class to represent an edge connecting an arbitrary number of nodes </div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:51</div></div>
<div class="ttc" id="classg2o_1_1_base_multi_edge_html_a43dfdf5b27df296a32ee5a11f0653d55"><div class="ttname"><a href="classg2o_1_1_base_multi_edge.html#a43dfdf5b27df296a32ee5a11f0653d55">g2o::BaseMultiEdge::JacobianType</a></div><div class="ttdeci">MatrixXd::MapType JacobianType</div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:66</div></div>
<div class="ttc" id="robust__kernel_8h_html"><div class="ttname"><a href="robust__kernel_8h.html">robust_kernel.h</a></div></div>
<div class="ttc" id="classg2o_1_1_base_multi_edge_html_a368ab136a2cee049549cb479fb4c88fa"><div class="ttname"><a href="classg2o_1_1_base_multi_edge.html#a368ab136a2cee049549cb479fb4c88fa">g2o::BaseMultiEdge::InformationType</a></div><div class="ttdeci">BaseEdge&lt; D, E &gt;::InformationType InformationType</div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:68</div></div>
<div class="ttc" id="classg2o_1_1_base_multi_edge_html_af299cc8f77d917c1ad4a7d8004aec3a1"><div class="ttname"><a href="classg2o_1_1_base_multi_edge.html#af299cc8f77d917c1ad4a7d8004aec3a1">g2o::BaseMultiEdge::HessianBlockType</a></div><div class="ttdeci">Eigen::Map&lt; MatrixXd, MatrixXd::Flags &amp;AlignedBit ? Aligned :Unaligned &gt; HessianBlockType</div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:69</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="structg2o_1_1_base_multi_edge_1_1_hessian_helper_html_aeaff0227a982c30364d97ef9f0d9d60c"><div class="ttname"><a href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html#aeaff0227a982c30364d97ef9f0d9d60c">g2o::BaseMultiEdge::HessianHelper::transposed</a></div><div class="ttdeci">bool transposed</div><div class="ttdoc">the block has to be transposed </div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:59</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html"><div class="ttname"><a href="classg2o_1_1_base_edge.html">g2o::BaseEdge</a></div><div class="ttdef"><b>Definition:</b> base_edge.h:42</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="base__edge_8h_html"><div class="ttname"><a href="base__edge_8h.html">base_edge.h</a></div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a2e5a33343ac3f189d8a7d5ee4d8b73fc"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">g2o::BaseEdge::InformationType</a></div><div class="ttdeci">Matrix&lt; double, D, D &gt; InformationType</div><div class="ttdef"><b>Definition:</b> base_edge.h:49</div></div>
<div class="ttc" id="classg2o_1_1_base_multi_edge_html_acbaff4c018fb314db5c7852054ffb89d"><div class="ttname"><a href="classg2o_1_1_base_multi_edge.html#acbaff4c018fb314db5c7852054ffb89d">g2o::BaseMultiEdge::Measurement</a></div><div class="ttdeci">BaseEdge&lt; D, E &gt;::Measurement Measurement</div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:65</div></div>
<div class="ttc" id="structg2o_1_1_base_multi_edge_1_1_hessian_helper_html"><div class="ttname"><a href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html">g2o::BaseMultiEdge::HessianHelper</a></div><div class="ttdoc">helper for mapping the Hessian memory of the upper triangular block </div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:57</div></div>
<div class="ttc" id="classg2o_1_1_base_multi_edge_html_a761d6a3623ed2c4ce6c6535f78dac08d"><div class="ttname"><a href="classg2o_1_1_base_multi_edge.html#a761d6a3623ed2c4ce6c6535f78dac08d">g2o::BaseMultiEdge::BaseMultiEdge</a></div><div class="ttdeci">BaseMultiEdge()</div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:71</div></div>
<div class="ttc" id="classg2o_1_1_base_multi_edge_html_ae17c6b5747bfed295214942207a6eb74"><div class="ttname"><a href="classg2o_1_1_base_multi_edge.html#ae17c6b5747bfed295214942207a6eb74">g2o::BaseMultiEdge::ErrorVector</a></div><div class="ttdeci">BaseEdge&lt; D, E &gt;::ErrorVector ErrorVector</div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:67</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_af5b558dd24e4be2e437563cae4b3550d"><div class="ttname"><a href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">g2o::BaseEdge::ErrorVector</a></div><div class="ttdeci">Matrix&lt; double, D, 1 &gt; ErrorVector</div><div class="ttdef"><b>Definition:</b> base_edge.h:48</div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html">g2o::JacobianWorkspace</a></div><div class="ttdoc">provide memory workspace for computing the Jacobians </div><div class="ttdef"><b>Definition:</b> jacobian_workspace.h:50</div></div>
<div class="ttc" id="classg2o_1_1_base_multi_edge_html_af927d6f41bf73fc3b928cae2d6219d9e"><div class="ttname"><a href="classg2o_1_1_base_multi_edge.html#af927d6f41bf73fc3b928cae2d6219d9e">g2o::BaseMultiEdge::_hessian</a></div><div class="ttdeci">std::vector&lt; HessianHelper &gt; _hessian</div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:100</div></div>
<div class="ttc" id="structg2o_1_1_base_multi_edge_1_1_hessian_helper_html_ab9eab8a9c5bf6e7814173d1955d7a01c"><div class="ttname"><a href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html#ab9eab8a9c5bf6e7814173d1955d7a01c">g2o::BaseMultiEdge::HessianHelper::matrix</a></div><div class="ttdeci">Eigen::Map&lt; MatrixXd &gt; matrix</div><div class="ttdoc">the mapped memory </div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:58</div></div>
<div class="ttc" id="structg2o_1_1_base_multi_edge_1_1_hessian_helper_html_a5a76a58b21ca39ea6ca1e274b588fad0"><div class="ttname"><a href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html#a5a76a58b21ca39ea6ca1e274b588fad0">g2o::BaseMultiEdge::HessianHelper::HessianHelper</a></div><div class="ttdeci">HessianHelper()</div><div class="ttdef"><b>Definition:</b> base_multi_edge.h:60</div></div>
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